Merge pull request justadudewhohacks#393 from andrewwalters/calibrateCameraFix

Fixed issue justadudewhohacks#392: calibrateCamera() does not update distortion coefficients

Author: justadudewhohacks

cc/modules/calib3d/calib3dBindings.h

@@ -271,6 +271,8 @@ namespace Calib3dBindings {
       Nan::Set(ret, Nan::New("T").ToLocalChecked(), Vec3::Converter::wrap(T));
       Nan::Set(ret, Nan::New("E").ToLocalChecked(), Mat::Converter::wrap(E));
       Nan::Set(ret, Nan::New("F").ToLocalChecked(), Mat::Converter::wrap(F));
+      Nan::Set(ret, Nan::New("distCoeffs1").ToLocalChecked(), DoubleArrayConverter::wrap(distCoeffs1));
+      Nan::Set(ret, Nan::New("distCoeffs2").ToLocalChecked(), DoubleArrayConverter::wrap(distCoeffs2));
       return ret;
     }
 
@@ -675,6 +677,7 @@ namespace Calib3dBindings {
       Nan::Set(ret, Nan::New("returnValue").ToLocalChecked(), DoubleConverter::wrap(returnValue));
       Nan::Set(ret, Nan::New("rvecs").ToLocalChecked(), ObjectArrayConverter<Vec3, cv::Vec3d>::wrap(rvecs));
       Nan::Set(ret, Nan::New("tvecs").ToLocalChecked(), ObjectArrayConverter<Vec3, cv::Vec3d>::wrap(tvecs));
+      Nan::Set(ret, Nan::New("distCoeffs").ToLocalChecked(), DoubleArrayConverter::wrap(distCoeffs));
       return ret;
     }
 
@@ -829,4 +832,4 @@ namespace Calib3dBindings {
 
 }
 
-#endif
+#endif

lib/typings/cv.d.ts

@@ -23,10 +23,10 @@ export function blobFromImageAsync(image: Mat, scaleFactor?: number, size?: Size
 export function blobFromImages(image: Mat[], scaleFactor?: number, size?: Size, mean?: Vec3, swapRB?: boolean): Mat;
 export function blobFromImagesAsync(image: Mat[], scaleFactor?: number, size?: Size, mean?: Vec3, swapRB?: boolean): Promise<Mat>;
 export function calcHist(img: Mat, histAxes: HistAxes[], mask?: Mat): Mat;
-export function calibrateCamera(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[] };
-export function calibrateCameraAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[] }>;
-export function calibrateCameraExtended(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] };
-export function calibrateCameraExtendedAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] }>;
+export function calibrateCamera(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[] };
+export function calibrateCameraAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[] }>;
+export function calibrateCameraExtended(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] };
+export function calibrateCameraExtendedAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] }>;
 export function canny(dx: Mat, dy: Mat, threshold1: number, threshold2: number, L2gradient?: boolean): Mat;
 export function cartToPolar(x: Mat, y: Mat, angleInDegrees?: boolean): { magnitude: Mat, angle: Mat };
 export function cartToPolarAsync(x: Mat, y: Mat, angleInDegrees?: boolean): Promise<{ magnitude: Mat, angle: Mat }>;
@@ -131,8 +131,8 @@ export function solvePnP(objectPoints: Point3[], imagePoints: Point2[], cameraMa
 export function solvePnP(objectPoints: Point3[], imagePoints: Point2[], cameraMatrix: Mat, distCoeffs: number[], useExtrinsicGuess?: boolean, iterationsCount?: number, reprojectionError?: number, confidence?: number, flags?: number): { returnValue: boolean, rvec: Vec3, tvec: Vec3, inliers: number[] };
 export function solvePnPAsync(objectPoints: Point3[], imagePoints: Point2[], cameraMatrix: Mat, distCoeffs: number[], useExtrinsicGuess?: boolean, flags?: number): Promise<{ returnValue: boolean, rvec: Vec3, tvec: Vec3 }>;
 export function solvePnPAsync(objectPoints: Point3[], imagePoints: Point2[], cameraMatrix: Mat, distCoeffs: number[], useExtrinsicGuess?: boolean, iterationsCount?: number, reprojectionError?: number, confidence?: number, flags?: number): Promise<{ returnValue: boolean, rvec: Vec3, tvec: Vec3, inliers: number[] }>;
-export function stereoCalibrate(objectPoints: Point3[], imagePoints1: Point2[], imagePoints2: Point2[], cameraMatrix1: Mat, distCoeffs1: number[], cameraMatrix2: Mat, distCoeffs2: number[], imageSize: Size, flags?: number, criteria?: TermCriteria): { returnValue: number, R: Mat, T: Vec3[], E: Mat, F: Mat };
-export function stereoCalibrateAsync(objectPoints: Point3[], imagePoints1: Point2[], imagePoints2: Point2[], cameraMatrix1: Mat, distCoeffs1: number[], cameraMatrix2: Mat, distCoeffs2: number[], imageSize: Size, flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, R: Mat, T: Vec3[], E: Mat, F: Mat }>;
+export function stereoCalibrate(objectPoints: Point3[], imagePoints1: Point2[], imagePoints2: Point2[], cameraMatrix1: Mat, distCoeffs1: number[], cameraMatrix2: Mat, distCoeffs2: number[], imageSize: Size, flags?: number, criteria?: TermCriteria): { returnValue: number, R: Mat, T: Vec3[], E: Mat, F: Mat, distCoeffs1: number[], distCoeffs2: number[] };
+export function stereoCalibrateAsync(objectPoints: Point3[], imagePoints1: Point2[], imagePoints2: Point2[], cameraMatrix1: Mat, distCoeffs1: number[], cameraMatrix2: Mat, distCoeffs2: number[], imageSize: Size, flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, R: Mat, T: Vec3[], E: Mat, F: Mat, distCoeffs1: number[], distCoeffs2: number[] }>;
 export function stereoRectifyUncalibrated(points1: Point2[], points2: Point2[], F: Mat, imageSize: Size, threshold?: number): { returnValue: boolean, H1: Mat, H2: Mat };
 export function stereoRectifyUncalibratedAsync(points1: Point2[], points2: Point2[], F: Mat, imageSize: Size, threshold?: number): Promise<{ returnValue: boolean, H1: Mat, H2: Mat }>;
 export function waitKey(delay?: number): number;

test/tests/modules/calib3d.test.js

@@ -235,6 +235,7 @@ describe('calib3d', () => {
       res.rvecs.forEach(vec => expectToBeVec3(vec));
       expect(res).to.have.property('tvecs').to.be.an('array').lengthOf(2);
       res.tvecs.forEach(vec => expectToBeVec3(vec));
+      expect(res).to.have.property('distCoeffs').to.be.an('array');
     };
     const _cameraMatrix = new cv.Mat([
       [800, 0, 100],
@@ -296,6 +297,8 @@ describe('calib3d', () => {
       assertMetaData(res.E)(3, 3, cv.CV_64F);
       expect(res).to.have.property('F').to.be.instanceOf(cv.Mat);
       assertMetaData(res.F)(3, 3, cv.CV_64F);
+      expect(res).to.have.property('distCoeffs1').to.be.an('array');
+      expect(res).to.have.property('distCoeffs2').to.be.an('array');
     };
 
     const imageSize = new cv.Size(200, 200);